Machining Force Control Including Static, Nonlinear Effects


Stelson, K. and Oba, F.


Regulating machining forces provides significant economic benefits by increasing productivity and improving part quality. The traditional machining force control approach employs linear, model-based techniques, assuming the machining force of interest is proportional to the feed and the depth-of-cut. However, the force-feed and force-depth relationships are nonlinear. Adaptive control techniques augment the traditional approach to ensure controller stability in the presence of these nonlinearities. Approaches employing linearization and transformation techniques have been developed which approximately account for the static, nonlinear effects. This paper demonstrates through simulation and experimental results that ignoring these nonlinearities reduces the performance of common machining force controllers. A model-based methodology is introduced which exactly accounts for the static, nonlinear effects. A change of variable accounts for the force-feed effect and the controller gains are adjusted to account for the force-depth effect. The proposed approach preserves the ease of design of linear, model-based techniques while ensuring controller performance specifications are met. The proposed approach is compared to the traditional, linearization, and log transform approaches via simulations and experiments and the advantages of this new technique are demonstrated.

Meeting Name

1996 Japan-USA Symposium on Flexible Automation


Mechanical and Aerospace Engineering

Keywords and Phrases

Adaptive Control Systems; Computer Simulation; Control Equipment; Control Nonlinearities; Force Control; Linearization; Mathematical Models; Mathematical Transformations; System Stability

Document Type

Article - Conference proceedings

Document Version


File Type





© 1996 American Society of Mechanical Engineers (ASME), All rights reserved.

Publication Date

01 Jan 1996

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